{"id":84,"date":"2015-09-17T18:05:25","date_gmt":"2015-09-17T18:05:25","guid":{"rendered":"http:\/\/jaisor.net\/?p=84"},"modified":"2015-09-17T18:05:25","modified_gmt":"2015-09-17T18:05:25","slug":"pid-tuning-on-zax","status":"publish","type":"post","link":"https:\/\/jaisor.net\/index.php\/2015\/09\/17\/pid-tuning-on-zax\/","title":{"rendered":"PID Tuning on Zax"},"content":{"rendered":"<p>I&#8217;ve been flying Zax for about two weeks now and noticed some issues:<\/p>\n<ul>\n<li>Jello effect visible on the high definition camera<\/li>\n<li>Oscillations or other destabilization while\u00a0turning or descending<\/li>\n<\/ul>\n<p>Most of the online suggestions involve PID tuning. For the CC3D flight controller, I am using, I found this wonderful noob-oriented guide:\u00a0<a href=\"https:\/\/forums.openpilot.org\/topic\/39941-tuning-guide-for-noobs-and-new-builds-optune\/\" target=\"_blank\" rel=\"noopener noreferrer\">https:\/\/forums.openpilot.org\/topic\/39941-tuning-guide-for-noobs-and-new-builds-optune\/<\/a><\/p>\n<p>Following the steps I arrived at the following\u00a0Unique Oscillation Values (UOV) for my specific quadcopter build:<\/p>\n<ul>\n<li>Roll Rate Kp: 0.00634<\/li>\n<li>Pitch Rate kP: 0.01142<\/li>\n<\/ul>\n<p>Using the online OPTune calculator (<a href=\"https:\/\/optune.opng.org\/\" target=\"_blank\" rel=\"noopener noreferrer\">https:\/\/optune.opng.org\/<\/a>), I created the following flight modes\u00a0with my basic\u00a0PWMSync ESCs:<\/p>\n<p><strong>FM1:\u00a0Photographer + Soft Yaw<\/strong><\/p>\n<p>(Roll, Pitch, Yaw)<br \/>\nKp 0.00348 0.00627 0.00488<br \/>\nKi 0.00870 0.01568 0.00927<br \/>\nKd 0.000047 0.000085 0.000041<\/p>\n<p><strong>FM2:\u00a0Cruiser + Gentle Yaw<\/strong><\/p>\n<p>(Roll, Pitch, Yaw)<br \/>\nKp 0.00354 0.00637 0.00743<br \/>\nKi 0.01062 0.01911 0.01412<br \/>\nKd 0.000048 0.000086 0.000063<\/p>\n<p><strong>FM3: Sport Flyier + Firm Yaw<\/strong><\/p>\n<p>(Roll, Pitch, Yaw)<br \/>\nKp 0.00359 0.00648 0.01007<br \/>\nKi 0.01257 0.02268 0.01913<br \/>\nKd 0.000048 0.000087 0.000086<\/p>\n<p><a href=\"http:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.38-AM.png\"><img decoding=\"async\" loading=\"lazy\" class=\"alignnone size-medium wp-image-87\" src=\"http:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.38-AM-300x239.png\" alt=\"Settings bank 1\" width=\"300\" height=\"239\" srcset=\"https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.38-AM-300x239.png 300w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.38-AM-1024x817.png 1024w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.38-AM-768x612.png 768w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.38-AM.png 1175w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a> <a href=\"http:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.43-AM.png\"><img decoding=\"async\" loading=\"lazy\" class=\"alignnone size-medium wp-image-89\" src=\"http:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.43-AM-300x239.png\" alt=\"Settings bank 1\" width=\"300\" height=\"239\" srcset=\"https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.43-AM-300x239.png 300w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.43-AM-1024x817.png 1024w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.43-AM-768x612.png 768w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.43-AM.png 1175w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a> <a href=\"http:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.41-AM.png\"><img decoding=\"async\" loading=\"lazy\" class=\"alignnone size-medium wp-image-88\" src=\"http:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.41-AM-300x239.png\" alt=\"Settings bank 1\" width=\"300\" height=\"239\" srcset=\"https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.41-AM-300x239.png 300w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.41-AM-1024x817.png 1024w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.41-AM-768x612.png 768w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-10.58.41-AM.png 1175w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a> <a href=\"http:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-11.00.17-AM.png\"><img decoding=\"async\" loading=\"lazy\" class=\"alignnone size-medium wp-image-90\" src=\"http:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-11.00.17-AM-300x239.png\" alt=\"Flight mode configuration\" width=\"300\" height=\"239\" srcset=\"https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-11.00.17-AM-300x239.png 300w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-11.00.17-AM-1024x817.png 1024w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-11.00.17-AM-768x612.png 768w, https:\/\/jaisor.net\/wp-content\/uploads\/2015\/09\/Screen-Shot-2015-09-17-at-11.00.17-AM.png 1175w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<hr \/>\n<p>I did a quick Line-of-sight test with these values and I can see a substantial improvement. Zax feels a lot more dialed-in, no noticeable wobbles and no Jello on the camera. I&#8217;m looking forward to testing it FPV as soon as I can.<\/p>\n<p><strong>Update (9\/26\/2015)<\/strong> I still experience a bit of oscillations at sharp turns. I decided to bump down the P values by\u00a00.00030 respectively to:<\/p>\n<ul>\n<li>Roll Rate Kp: 0.00604<\/li>\n<li>Pitch Rate kP: 0.01112<\/li>\n<\/ul>\n<p>These values plugged in the calculator on a &#8220;Sport Flyer&#8221; with &#8220;Firm Yaw&#8221; produced the following PIDs:<\/p>\n<p>(Roll, Pitch, Yaw)<br \/>\nKp 0.00342 0.00631 0.00973<br \/>\nKi 0.01197 0.02209 0.01849<br \/>\nKd 0.000046 0.000085 0.000083<\/p>\n<p>Hope to do a test run tomorrow.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>I&#8217;ve been flying Zax for about two weeks now and noticed some issues: Jello effect visible on the high definition camera Oscillations or other destabilization while\u00a0turning or descending Most of the online suggestions involve PID tuning. For the CC3D flight&hellip; <a href=\"https:\/\/jaisor.net\/index.php\/2015\/09\/17\/pid-tuning-on-zax\/\" class=\"more-link\">Continue Reading <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[2],"tags":[8,22,27,28,30,45],"_links":{"self":[{"href":"https:\/\/jaisor.net\/index.php\/wp-json\/wp\/v2\/posts\/84"}],"collection":[{"href":"https:\/\/jaisor.net\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/jaisor.net\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/jaisor.net\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/jaisor.net\/index.php\/wp-json\/wp\/v2\/comments?post=84"}],"version-history":[{"count":0,"href":"https:\/\/jaisor.net\/index.php\/wp-json\/wp\/v2\/posts\/84\/revisions"}],"wp:attachment":[{"href":"https:\/\/jaisor.net\/index.php\/wp-json\/wp\/v2\/media?parent=84"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/jaisor.net\/index.php\/wp-json\/wp\/v2\/categories?post=84"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/jaisor.net\/index.php\/wp-json\/wp\/v2\/tags?post=84"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}